信谊kp ki kd L s tλ;
p = (12 * s + 8) / (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8) * exp (5 * s);
td =(1 /(λ* s + 1) * ((1 L * s / 2) / (1 + L * s / 2));
r = 1 / s * exp (-10 * s);
c0 = 0.1 + 0.1 / + 0.1 *年代(γ* s + 1);
c = kp + ki / s + kd * /(γ* s + 1);
情况= c0 / (1 + c0 * p) * r;
y0 = c0 * p / r (1 + c0 * p) *;
ref = 1 / c *情况+ y0;
e = y0-td * ref
等= vpa (ilaplace (e、s、t))
错误使用伽马
不足够的输入参数。
> > sym kpki kd L s tλγ;
> >
> >
p = (12 * s + 8) / (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8) * exp (5 * s);
td =(1 /(λ* s + 1) * ((1 L * s / 2) / (1 + L * s / 2));
r = 1 / s * exp (-10 * s);
c0 = 0.1 + 0.1 / + 0.1 *年代(γ* s + 1);
c = kp + ki / s + kd * /(γ* s + 1);
情况= c0 / (1 + c0 * p) * r;
y0 = c0 * p / r (1 + c0 * p) *;
ref = 1 / c *情况+ y0;
e = y0-td *裁判;
等= vpa (ilaplace (e、s、t))
e =
(((exp (-10 *) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (s * ((exp (5 *) * (12 * s + 8) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8) + 1) * (kp + ki / s + (kd * s) / ((9 * s) / 5 + 1))) + (exp (-15 * s) * (12 * s + 8) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (s * ((exp (5 *) * (12 * s + 8) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8) + 1) * (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8))) * ((L * s) / 2 - 1)) / (((L * s) / 2 + 1) *(λ* s + 1)) + (exp (-15 * s) * (12 * s + 8) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (s * ((exp (5 *) * (12 * s + 8) * (s / (10 * ((9 * s) / 5 + 1)) + 1 / (10 * s) + 1/10)) / (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8) + 1) * (20 * s ^ 4 + 113 * s ^ 3 + 147 * s ^ 2 + 62 * s + 8))
等=
1.2 *亥维赛(1.0 * t - 15.0) * ilaplace (s /((γ* s + 1) * ((exp (5 *) * (12 * s + 8) * (s /(10 *(γ* s + 1)) + 1 /(10 *年代)…